Rodrigo Gikas / CrazyflieController

Crazyflie 2.0 Controller

Dependents:   Drone_Controlador_Atitude

VerticalController/VerticalController.cpp

Committer:
IgneousGuikas
Date:
2018-11-21
Revision:
2:9e07bed8e8ed

File content as of revision 2:9e07bed8e8ed:

#include "mbed.h"
#include "VerticalController.h"

VerticalController::VerticalController()
{
    f_t = 0.0f;
}

void VerticalController::control(float z_r, float z, float w)
{
    f_t = m*( z_kp*( z_r - z ) - z_kd*w + g);
}